6DOF LWA hanging Manipulator with 6 kg payload
Axes/DOF | 6 (pitch-roll-pitch-roll-pitch-roll) |
|---|---|
Operation range | 1440 x 1120 x 1440 mm³ |
Envelope | 1390 dm³ |
Payload | 6 kg |
Repeated accuracy | 0.1 mm |
Power supply | 24V DC / max. 20 A |
Control | PC control (Linux or Windows) using CAN-Bus interface |
Fail safeness | All joints equipped with permanent magnet brakes |
6DOF Modular Robotic System in P-R-P-R-P-R configuration
Performance | Force/Torque nom. | . Force/Torque max. | Weight [kg] | Accuracy |
|---|---|---|---|---|
Joint 1 PRL120 | 216 Nm | 372 Nm | 3.6 | ± 2 arcsec |
Joint 2 PRL100 | 81.5 Nm | 176 Nm | 2.0 | ± 2 arcsec |
Joint 3 PRL100 | 81.5 Nm | 176Nm | 2.0 | ± 2 arcsec |
Joint 4 PRL080 | 20.1 Nm | 41.6 Nm | 1.2 | ± 2 arcsec |
Joint 5 PRL080 | 20.1 Nm | 41.6 Nm | 1.2 | ± 2 arcsec |
Joint 6 PRL060 | 4.5 Nm | 9.6 Nm | 1.0 | ± 2 arcsec |
Specification of joints
DH-Parameters | Phi | D | A | Alpha |
|---|---|---|---|---|
Joint 1 PRL120 | 90.00 | 0.00 | 45.00 | -90.00 |
Joint 2 PRL100 | -90.00 | -225.50 | 0.00 | 90.00 |
Joint 3 PRL080 | 0.00 | 215.50 | 0.00 | -90.00 |
Joint 4 PRL080 | 180.00 | 0.00 | 0.00 | -90.00 |
Joint 5 PRL060 | 180.00 | 308.50 | 140.00 | -90.00 |
Joint 6 PRL060 | 0.00 | 0.00 | 0.00 | 0.00 |
DH-Parameters 6DOF Modular Robotic System
- 6DOF Modular Robotic System in P-R-P-R-P-R configuration
- 6DOF Modular Robot Operation Range